The dataset consists of five scenes with between 231 and 3015 images in each scene. The ground truth pose of each image in each scene was reconstructed using the VisualSFM structure-from-motion software [1]}, [2]} and the images are divided into training and testing sets. In our experiments we used the training images as the reference images with known poses and the test set images as the query images with unknown pose. We only used feature matches between the test images and the training images for computing localization queries and we did not use feature matches between test set images.
